Investigation of MPC for MIMO system in presence of both input and output constraints with relative parametric variation

Abstract

This paper is an extension of the series of work published in consecutive two IEEE ICECCE conference proceedings. In this paper, MPC has been implemented to control a fast dynamic MIMO system i.e., rotors of the quadcopter in the presence of both input and output constraints along with some system's internal physical gains variations. The simulations are done by first developing the mathematical model of DC motor and then the MPC controller is designed. Finally, numerical simulations are done by using the MATLAB/SIMULINK software. The numerical results are demonstrated for roll, pitch, and yaw motions. The performance investigations are done in terms of percentage overshoot, steady-state error, and number of constraints violations. The results have shown that the MPC controller successfully control the speed of DC motors in the presence of operational constraints and parametric variations. The results indicate that MPC is a robust controller for fast dynamic MIMO systems.